From: Daniel P. <d.p...@he...> - 2007-06-28 23:12:16
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Jan Murray writes: > Hi, > > Daniel Polani wrote: > ... > > Anyway, we experience similar problems, that's the bottom line :-( > > > > We didn't, however, in 0.5.3, and that is what surprises me. It may > > have to do with the joint limitations, perhaps? > > You can easily remove the joint stops for testing this. Just comment out > the lines starting with "(setLowStopDeg ..." and "(setHighStopDeg > ...". No problem for an expert emacs user. ;-) > In the 0.5.6 release, the soccerbot056.rsg has still a non-commented setLowStopDeg command. Is that intentional? > Could you please try this and tell us if the problems go away? > > > > - Daniel > > > > Another problem that is related to this is that in > > > UniversalJointEffector::PrePhysicsUpdateInternal and > > > HingeJointEffector::PrePhysicsUpdateInternal, the joints can not be moved > > > when the current angle is out of the set ranges: > > > > > > if ( gInRange(currentAng, minAng, maxAng) && gInRange(vel,-9000.0f, > > > 9000.0f) ) > > > { > > > mJoint->SetParameter(dParamVel, vel); > > > } > > > else > > > { > > > mJoint->SetParameter(dParamVel, 0); > > > } > > > > > > So when a joint accidentally rotates out of its range, it is blocked and > > > cannot be moved back anymore. > > Thanks for the report, Sander. > > > Bye, > Jan > |